A Calibration Method of Error Parameters for Dual-Axial Rotary Strapdown Inertial Navigation Systems

doi:10.7652/xjtuxb201610023

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A Calibration Method of Error Parameters for Dual-Axial Rotary Strapdown Inertial Navigation Systems

更新时间：2025-07-09

- A Calibration Method of Error Parameters for Dual-Axial Rotary Strapdown Inertial Navigation Systems
- Vol. 50, Issue 10, Pages: 153-160(2016)
- 作者机构：
  
  火箭军工程大学兵器发射理论与技术国家重点学科实验室,西安,710025
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb201610023
  CLC： U666.1
- Online First：10 October 2016，
  
  Published：2016
- 稿件说明：
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A Calibration Method of Error Parameters for Dual-Axial Rotary Strapdown Inertial Navigation Systems[J]. 2016, 50(10): 153-160.
DOI：

A Calibration Method of Error Parameters for Dual-Axial Rotary Strapdown Inertial Navigation Systems[J]. 2016, 50(10): 153-160. DOI： 10.7652/xjtuxb201610023.

摘要

针对目前的双轴旋转调制捷联惯导系统误差标定方法参数标定不全、速度较慢的问题

提出一种新的双轴旋转调制捷联惯导系统误差参数标定方法

以实现全参数、快速标定

从而进行误差补偿以有效提升惯导系统导航精度。首先通过研究双轴旋转捷联惯导系统误差补偿的基本原理和系统机械结构

推导了初始时刻内、外轴处于任意角度情况下的陀螺误差方程; 而后在对状态方程进行可观测性分析的基础上

设计了标定路径; 最后通过滤波获取标定参数结果。该标定方法无需外部基准

仅通过系统自身旋转机构即可快速实现对陀螺误差全参数标定

弥补了之前方法只能标定部分参数的缺点

且有效缩短了标定时间

仿真结果表明

相比之前方法需要几十分钟的标定时间

该方法只要在6 min内即可实现陀螺全参数标定

是一种快速有效的标定方案。

Abstract

A new systematic calibration method is proposed to solve the problems that current modulate methods can only modulate parts of parameters of dual-axis rotary modulation strapdown inertial navigation systems and their speeds are slow

and to realize the fast self-calibration of all gyroscopes errors of dual-axis rotary modulation strapdown inertial navigation systems The method compensates errors to improve the accuracy of navigation systems. At first

it is based on the error compensation fundamental and mechanical structure of dual-axis rotation SINS that equations of gyroscopes errors are deduced when both the inside and outside axes are in any direction at initial time. Then

the calibration route is designed through observability analysis

and dimension error parameters are finally acquired by filter. The method can rapidly calibrate all gyroscopes errors by just using the self rotating mechanism without external standard. The method overcomes the shortages of existing methods that only calibrate part of all parameters

and cuts down calibration time effectively. Simulation results show that the method realizes the calibration of all parameters of gyroscopes errors just in 6 minutes while existing methods cost tens of minutes to calibrate

and that the method is fast and feasible.

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references

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